Radiation-based disinfection system and method

ABSTRACT

A radiation-based disinfection system with detectors and an intelligent controller is capable of disinfecting small areas on surfaces with a suitable light source (e.g. a UV laser) in a dynamic fashion in high traffic environments while avoiding vulnerable targets with incident or reflected beams. The disinfection system operates by predicting likely 5 transmission sites between potential sources of infection and other objects in the environment.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional Patent Application U.S. Ser. No. 63/015,066 filed Apr. 24, 2020, the entire contents of which is herein incorporated by reference.

FIELD

This application relates to disinfection systems and methods, more particularly to radiation-based disinfection systems and methods utilizing beams of radiation, especially with with computer guidance.

BACKGROUND

Electromagnetic radiation and particularly ultraviolet (UV) light has potential to be used as a disinfectant if applied at an appropriate dosage (i.e. power level, exposure time, frequency/wavelength). Of the UV wavelengths, UV-C is potent as a disinfection tool, but can also be particularly toxic especially to skin or vulnerable organs such as the eyes, depending on specific wavelength. A variety of UV sources, most commonly incoherent sources such as lamps or light emitting diodes, have been implemented as disinfection tools, sometimes positioned by robots and sometimes controlled with computer algorithms, including neural networks. In general, these solutions provide disinfection at a rate too slow to prevent the spread of infection in high traffic environments due to limitations of inverse square physics. There is a lack of systems to deal with high traffic environments, where disinfection of a surface may be required every few seconds or few minutes.

There remains a need for a disinfection system that is useful in high traffic environments, where disinfection must be reliably performed every few seconds or few minutes.

SUMMARY

A disinfection system comprising: at least one beam-producing light source for disinfection; at least one imaging device for collecting data about objects in a field of view of the at least one imaging device; and, a programmed controller for controlling the at least one beam-producing light source based on the data collected from the at least one imaging device, wherein the controller is programmed to utilize the data collected to: classify the objects in the field of view according to whether each of the objects is or is not a potential source of infection; characterize at least one potential transmission site between at least one of the objects that is classified as a potential source of infection and at least one other of the objects in the field of view; localize the at least one potential transmission site in the field of view of the at least one imaging device; and, based on the classification of the objects, the characterization of the at least one potential transmission site and the localization of the at least one potential transmission site in the field of view, control the at least one beam-producing light source to disinfect the at least one potential transmission sites.

A method of disinfecting comprising: collecting data, with at least one imaging device, about objects in a field of view of the at least one imaging device; classifying the objects in the field of view according to whether each of the objects is or is not a potential source of infection; characterizing at least one potential transmission site between at least one of the objects that is classified as a potential source of the infection and at least one other of the objects in the field of view; localizing the at least one potential transmission site in the field of view of the at least one imaging device; and, based on the classification of the objects, the characterization of the at least one potential transmission site and the localization of the at least one potential transmission site, controlling at least one light source for disinfection to disinfect the at least one transmission site.

In another aspect, a system for identifying a location in need of disinfection comprises: at least one beam-producing light source; at least one imaging device for collecting data about objects in a field of view of the at least one imaging device; and, a programmed controller for controlling the at least one beam-producing light source based on the data collected from the at least one imaging device, wherein the controller is programmed to utilize the data collected to: classify the objects in the field of view according to whether each of the objects is or is not a potential source of infection; characterize at least one potential transmission site between at least one of the objects that is classified as a potential source of infection and at least one other of the objects in the field of view; localize the at least one potential transmission site in the field of view of the at least one imaging device; and, based on the classification of the objects, the characterization of the at least one potential transmission site and the localization of the at least one potential transmission site in the field of view, control the at least one beam-producing light source to mark the at least one potential transmission site.

Radiation-based disinfection systems have heretofore suffered from not being able to specifically target numerous smaller areas on-demand within a larger environment, especially while permitting normal use of the environment or avoiding exposure to humans or pets in the environment. Systems involving non-coherent radiation usually involve irradiating areas much larger than is actually required. Systems involving coherent radiation, e.g. laser light, suffer from several limitations in sanitization applications, particularly small beam size and as such, have heretofore seen very limited implementation in disinfection schemes. Described herein is a radiation-based disinfection system coupled with detectors and an intelligent controller, which is capable of disinfecting areas on surfaces in a dynamic fashion in high traffic environments as its primary aim, while optionally scrolling through to disinfect a larger area as a secondary aim, if for example such an operation were made possible my minimal traffic. The system is preferably intended to avoid radiation of vulnerable targets such as human skin, eyes, or animals.

In the system for identifying a location in need of disinfection, the at least one beam-producing light source does not perform disinfection, but marks the at least one potential transmission site for future disinfection by a human, robot or a different disinfecting light. The at least one light source may be a visible laser pointer, IR light, focused visible light, etc. Once the potential transmission site has been disinfected, the controller can switch off the at least one beam-producing light source that is marking the site. Further, the system for identifying a location in need of disinfection may be used while data is recorded to validate or train computer algorithms, which may then overtake control over aspects of the disinfection system based on the recorded data.

The systems employ at least one imaging device to capture data and define transmission sites, most commonly between people and elements of the environment, and from a distance rapidly disinfect or mark the transmission sites with radiation, for example a beam of light (e.g. laser light), preferably while avoiding vulnerable targets with incident or reflected beams. The systems are ideal for high traffic environments, and may be coupled with environmental elements designed to be used with the systems, including fixtures that are transparent to and/or reflective (e.g. internally and/or externally reflective) of the light of the light source. Such fixtures may include, for example, example native or clip-on light-transparent handles for faucets, doors and the like, and side emitting or terminal emitting/deflecting optical fiber that can be embedded into UV transparent plastic to access odd three-dimensional surfaces which do not have a direct line of sight to a beam.

The systems do not detect infectious organisms such as bacteria, viruses and the like, or use surface criteria like color and temperature to make decisions on where to disinfect. The systems operate by predicting likely transmission sites, for example contact sites, between the potential sources of infection and structures in the environment, for example by analyzing time series data collected by the imaging devices.

Further features will be described or will become apparent in the course of the following detailed description. It should be understood that each feature described herein may be utilized in any combination with any one or more of the other described features, and that each feature does not necessarily rely on the presence of another feature except where evident to one of skill in the art.

BRIEF DESCRIPTION OF THE DRAWINGS

For clearer understanding, preferred embodiments will now be described in detail by way of example, with reference to the accompanying drawings, in which:

FIG. 1 depicts a block diagram of a laser-based disinfection system.

FIG. 2 depicts a schematic diagram of the laser-based disinfection system of FIG. 1 deployed in a hospital waiting room.

FIG. 3 depicts a flowchart illustrating a method of disinfection using the laser-based disinfection system of FIG. 1 .

FIG. 4 depicts a schematic diagram illustrating another embodiment of disinfection system and a control method for controlling the disinfection system.

DETAILED DESCRIPTION

The disinfection system and method are used to dynamically disinfect small areas on surfaces in various environments to be protected. Some examples of environments to be protected include rooms or sub-regions of rooms in hospitals, airports, office buildings, retail businesses, factories, residences and the like. The system is well suited for high traffic environments, for example hospital waiting rooms and surgeries, storage rooms, airport lounges, elevators, foyers in office buildings, display spaces in retail outlets, factory floors and the like. Some examples of small areas on surfaces include buttons in elevators, light switches, keypads of automated teller machines and credit card machines, counter tops, and the like.

The disinfection method may be performed by a human user, by a programmed controller or by a combination of a human user and a programmed controller. In one embodiment, the disinfection system described above is used to perform the method. In another embodiment, a human user classifies the objects in the field of view of the at least one imaging device according to whether each of the objects is or is not a potential source of infection, whereas the other method steps are performed by either the human user or the programmed controller. In particular, human control of the system is utilized as a means of acquiring data to optimize algorithms intended to oversee or take over the involvement of a human.

The disinfection system comprises one light source or a plurality of disinfecting light sources capable of killing or otherwise rendering harmless infectious organisms or pest organisms that carry infectious organisms. The disinfection system preferably comprises a plurality of such light sources. The disinfecting light source preferably produces a beam of disinfecting light. A light beam or beam of light is a directional projection of light energy radiating from the light source. A beam of light provides illumination performance that is better than the inverse square of an incoherent radiating light source. Beams may be produced by a laser, or by directing light using optical elements, such as lenses, mirrors and the like, or by attenuating light in at least one direction and aggregating light in another direction. Preferably, the beam of light has an angle of dispersion of 10° or less.

The light from the light source may be incoherent or coherent light. Coherent light is light in which the phases of all electromagnetic waves at each point on a line normal to the direction of the beam are identical (e.g. laser light). Whether the light is coherent or incoherent, the light source is preferably directed, preferably a beam-producing light source. The beam of light may be produced in a coherent light source, such as a laser, or by focusing, directing and/or collimating light from an incoherent light source. Focusing, directing and/or collimating may be accomplished, for example, with a mirror, a lens (e.g. a Fresnel lens), a system of lenses, a tube, a channel or any combination thereof.

Preferably, the light used for disinfection has a wavelength in a range of 180-500 nm, although light with wavelengths outside that range could be used if the power is sufficient for disinfection. Light having wavelengths in the ultraviolet region is preferred, more preferably light having wavelengths in the UV-C region. Light having wavelengths from 180-280, especially 200-240 nm, is of particular note. Frequency multipliers may be employed to increase the frequency (decrease the wavelength) of the light. Frequency multiplying may be accomplished by known techniques, for example by passing the light through various kinds of crystals.

The light source for disinfection preferably comprises one or a plurality of coherent light sources, for example one or a plurality of lasers, more preferably one or a plurality of ultraviolet (UV) lasers. The one or a plurality of coherent light sources is preferably capable of emitting a coherent beam having a coherent light wavelength in the UV-C range, for example in a range of from 200 nm to 280 nm. The one or plurality of coherent light sources should be able to emit coherent light beams of sufficient intensity and power to be able to disinfect a surface in a relatively short period of time, preferably within 15 seconds or less at each position of the beam. The coherent light source preferably comprises a laser. Some examples of lasers include a Lucinda™ 200 mW 405 nm purple laser or a TOPTICA™ tunable single-frequency laser system, a CNI UV-F-261, etc. Infectious organisms include, for example, bacteria, viruses and the like. Pest organisms include, for example, insects, arachnids and the like.

The plurality of light sources may comprise a combination of different disinfecting light sources having different wavelength ranges, power outputs or other light source parameters. The light sources are preferably variable in power and/or variable in frequency/wavelength so that the power output and/or frequency/wavelength of a light beam can be adjusted appropriately according to a disinfection task determined by the controller based on the collected data. Preferably, the light sources kill or otherwise render harmless the infectious organisms themselves.

An advantage of a light beam over lamps lies in the increased ability to selectively disinfect small areas on surfaces at a faster rate, rather than irradiating a large area at a slower rate for any given power and electricity consumption rate, while being able to avoid irradiating vulnerable with incident or reflected beams, thereby simultaneously permitting human activity in high traffic environments while performing disinfection operations rapidly. Even so, the diameter of a light beam may be controlled by collimation or expansion, or the energy of the light beam modulated, to further optimize a particular disinfection task.

One or a plurality of the disinfecting light sources is mounted at convenient sites and in sufficient numbers in the environment to be protected to offer the ability to disinfect at least most surfaces, preferably any surface, in the environment. For example, light sources may be mounted on the ceiling, either alone or in pods, and aligned so that the beam from at least one light source can be incident on any surface at any time in the environment. In another example, the light sources may be positioned over keypads, counter tops or other structures requiring rapid disinfection. The light sources may be movably mounted so that the light sources can be rotated or translated if needed in order to successfully target any desired surface at any time in the environment to be protected. Further, the system may comprise reflectors (e.g. mirrors), and the environment equipped with the reflectors so that the beam from one or more of the light sources can be redirected to be incident on a surface in the environment or redirected to avoid a target that is not supposed to be hit by the light source's beam. Reflectors may be movably mounted, if desired, to change the angle of incidence and reflection of the light source's beam. One or more of the light sources may comprise components that are separable so that heavier components, for example a pump of a laser, can remain stationary while lighter components, for example frequency multipliers, lenses, mirrors and the like, can be moved to direct the light source's beam.

In addition to the at least one light source, a supplemental disinfection component can be included in the system. For example, the system may further comprise at least one non-coherent ultraviolet light source for disinfection, such as an ultraviolet LED lamp or the like. The supplemental disinfection component is also controllable by the controller based on the data collected. The supplemental disinfection component would be useful during low- or no-traffic periods for more broad-based disinfection of the environment, as an alternative to scrolling through the environment with the at least one beam. The supplemental disinfection component may be affixed to a component that allows translation in space.

The disinfection system comprises one or a plurality of imaging devices capable of collecting data about the environment to be protected. Preferably, the one or a plurality of imaging devices comprises one or more of a 2-D camera, a 3-D camera, a thermal camera, a short wave infra-red (SWIR) camera, a stereo vision camera, a time-of-flight (TOF) sensor or any combination thereof. The one or a plurality of imaging devices preferably comprises a plurality of imaging devices, more preferably a visible light camera and/or an infrared light camera, yet more preferably at least one camera, more preferably at least one visible light camera and at least one infrared light camera. The imaging devices may be movably mounted so that the imaging devices can be rotated or translated if needed in order to successfully scan the desired amount of the environment to be protected. The one or a plurality of imaging devices preferably comprises at least one imaging device that is capable of capturing time series data.

The disinfection system comprises a programmed controller for controlling the one or plurality of light sources based on the data collected from the one or plurality of imaging devices. The programmed controller is programmed with control software, preferably a neural network that synthesizes the collected data. The controller performs the method and is operatively linked to, for example in electronic communication with, the one or plurality of imaging devices and/or to the one or plurality of light sources. Electronic communication may be provided through wires or wirelessly. The controller may comprise, for example, a computer, an output device and an input device, the computer comprising a microprocessor for controlling operations and a non-transient electronic storage medium for storing the collected data and/or for storing computer executable code for carrying out instructions for implementing the method. The computer may further comprise a transient memory (e.g. random access memory (RAM)) accessible to the microprocessor while executing the code. A plurality of computer-based apparatuses may be connected to one another over a computer network system and geographically distributed. One or more of the computer-based apparatuses in the computer network system may comprise a microprocessor for controlling operations and a non-transient electronic storage medium for storing the collected data and/or for storing computer executable code for carrying out instructions for implementing the method, and the computer-based apparatuses in the network may interact so that the disinfecting operation may be carried out automatically from remote locations. The output device may be a monitor, a printer, a device that interfaces with a remote output device or the like. The input device may be a keyboard, a mouse, a microphone, a device that interfaces with a remote input device or the like. With a computer, data (e.g. images from the imaging devices) may be a graphically displayed in the output device. There is also provided a computer readable non-transient storage medium having computer readable code stored thereon for executing computer executable instructions for carrying out the method.

In some embodiments, the disinfection system may be partially or completely wearable or carriable by a person. The wearable or carriable disinfection system may be trained to disinfect a set of targets on or not on the person, for example gloves of the wearer or on another person. For example, one or more of the light sources, imaging devices and/or controller may be worn or carried as part of a phone, pin, bracelet, wristband, headband, a clip clipped on to a shirt, or the like. In some embodiments, the disinfection system may be affixed to a vehicle.

In some embodiments, the disinfection system may be coupled to objects in the field of view of the imaging devices, which are smooth, non-reflective or translucent to the light of the light source. Some examples include internal reflectors or diffusers that distribute incident light over a three-dimensional surface, or fixtures employing side-emitting or light-deflecting fiber optics. Thus, by providing objects (e.g. door handles, rails and the like) in the environment that are transparent or otherwise porous to the disinfecting light, or by incorporating internally reflective materials or fibers into such objects, surfaces can be disinfected which are not in direct line of site with a light beam, or a variety of surfaces may be accessed via a small site on an object. In some embodiments, surfaces may be primed with a chemical disinfectant which is activated by the light of the light source.

The collected data includes information about objects in a field of view of the at least one imaging device. Based on the collected data from the one or plurality of imaging devices, the controller classifies the objects in the field of view according to whether each of the objects is or is not a potential source of infection. The controller may further classify the objects by object types. In order to classify the objects, the control software analyzes images collected by the imaging devices and classifies objects in the images after having previously been trained from a pre-programmed dataset of object types to determine the type of object, and then based on the type, determines whether the object is or is not a potential source of infection. The controller may further rank each object according to the risk that the object harbors an infection. The dataset of object types comprises a listing of different objects that may be encountered in the environment to be protected together with the objects' image characteristics and a risk ranking for harboring an infection. A controller programmed with a neural network is particularly useful in that the controller can be readily trained to recognize and discriminate different objects.

An object is anything that has a surface. Objects may be, for example, keypads (e.g. in elevators, banks, stores and the like), handles (e.g. door handles, faucet handles, toilet handles, appliance handles and the like), walls, floors, ceilings, doors, windows, light fixtures, furniture, (e.g. tables, chairs, couches), telephones, computers, toys, clothing (e.g. gloves, caps, hats, shoes), tools, instruments, cell phones, organisms, water droplets suspended in air, portions of the aforementioned objects, and the like. As indicated above, one object may be part of another object. For example, a person is an object and a hand of a person is another object. Some of the objects most likely to be classified as potential sources of infection include, for example, organisms (e.g. pest organisms, humans, pet animals, body parts of humans and pet animals (e.g. a finger, hand, face and foot, which may or may not be clothed)), water droplets suspended in air (e.g. due to sneezing, coughing, spitting or other similar dispersion events), and the like.

The objects may be further classified to include a set of defined objects to avoid harmfully irradiating with the light source. The set of defined objects includes and encompasses specific organisms and portions of organisms to avoid harmfully irradiating. The controller is preferably further programmed to control the light sources to avoid harmfully irradiating the objects of the set of defined objects. The controller may switch off or redirect one or more of the light sources to avoid harmfully irradiating the objects of the set of defined objects, while simultaneously recruiting an alternate light source to take over or continue sterilization, if desired. The set of defined objects preferably comprises humans, pet animals and specific portions thereof including eyes and exposed skin. In this regard, it is especially useful for the controller to be able to recognize and discriminate high-risk features (e.g. eyes, face, uncovered skin, child, pregnant person) of objects in the set of defined objects that should not be irradiated so that the controller can control the light sources to avoid hitting those features, while still being able to discriminate worn clothing (e.g. gloves, caps, and the like) so that the controller can control the light sources to disinfect the worn clothing, if desired.

To assist in preventing the light sources from harmfully irradiating the objects of the set of defined objects, the controller may be further programmed to predict reflection angles of the light beams based on the data collected about the objects in the field of view, and the predicted reflection angles are used to redirect the light beams. The controller may be calibrated for predicting beam angles using the light beams only. In another embodiment, in order to calibrate the controller for predicting beam angles, visible light and/or the light beams from the disinfecting light source detectable by the one or plurality of imaging devices may be mixed with the light from the disinfecting light source so that the visible light and the light from the disinfecting light source are reflected together from the objects. The data collected by the imaging devices may include primary and reflected locations of the visible light and, therefore the light from the disinfecting light source. Where a light beam is incident on a rounded or rough surface, subtle light reflections may be used to calculate angles of incidence and reflection as detected in the imaging devices. From the collected data, the controller can create a map of possible reflections of the light beam from the primary and reflected locations in order to calibrate the disinfection system to maximize irradiation of the transmission sites and avoid harmfully irradiating the objects of the set of defined objects. The controller may be further programmed to classify the potential sources of infection and other objects in the field of view of imaging devices by risk of coherent light reflectivity, and to utilize the risk of reflectivity to control the light sources to avoid harmfully irradiating the objects of the set of defined objects. For the controller to be able to perform the classification by risk of reflectivity, the dataset of object types may include reflectivity properties for each object type. Further, when the controller switches off or redirects a first light source to avoid harmfully irradiating an object in the set of defined objects, the controller can control the system to utilize a second light source on a different vector when the object to be avoided is positioned between first light source and a target surface, or when the object to be avoided could potentially be in the path of reflected light from the first light source.

Any one or more of a variety of other techniques can be used to calculate reflection vectors, for example techniques utilizing time of flight systems (e.g. radar, sonar), parallax effect (e.g. stereoscopy) or laser proximity sensors may be used to define distance or spatial position between the light sources and surfaces of the objects in the environment to be protected, including specific sites of interest, as well as adjacent or nearby sites, so as to define planes of the surfaces of the objects in order to calculate reflection angles of incident light, such that the reflection vectors may be accounted for in any given disinfection task.

Thus, prior to undertaking a disinfection operation while in active mode, the system uses any combination of object classification, comparison of objects' pixel data (e.g. color) to a database, distance data to objects, object size, thermal and other spectroscopic characteristics of objects and reflection vectors to calculate probability of hitting a target object and not an object of the set of defined objects to avoid being harmfully irradiated.

Further, in some embodiments, data may be reviewed by a human operator to either actively or passively approve targeting of an object to be disinfected. Review may be performed, for example, by an on-site safety officer, and in some situations with such human over-sight, it may be possible to utilize higher energy light sources for disinfection than could be used without the presence of human over-sight. From a regulatory perspective, human over-sight permits overriding the automated controller thereby providing an extra layer of safety. The ability to provide human over-sight in the system is also very useful during the training phase of the programmed controller and during initial calibration of the disinfection system in a particular environment.

Image data, disinfection data and data generated from calculations performed by the controller may be recorded and stored in long-term computer readable non-transient memory as a historical record that can be accessed and reviewed at a later date. The historical record is useful for providing retrospective evidence that disinfection operations did not harmfully irradiate an object that should not have been irradiated, and to provide evidence that the system is complying with relevant regulatory requirements.

In addition to assisting with calibrating the controller for predicting reflection angles, visible and/or infrared (IR) targeting light may be mixed or colocalized with the disinfecting light from the disinfecting light source for other purposes during calibration or routine operation. Preferably, a beam of targeting light is mixed with rather than colocalized with the beam of disinfecting light. Beam mixing may be accomplished by any suitable method, but is preferably accomplished by controlling the efficiency of beam frequency multiplying (e.g. frequency doubling) by modulating the properties of the light source, for example by increasing beam power. Frequency multiplying is generally less efficient at lower beam energies, therefore increasing the beam power improves the efficiency of frequency conversion to assist with mixing of the beams. When beams of targeting light and disinfecting light are mixed, the targeting light can be used for a number of different purposes as follows.

In one embodiment, the targeting light is of sufficient intensity to trigger a blink reflex in a human or animal. For triggering the blink reflex, the beam of targeting light preferably irradiates a larger cross-sectional area than the beam of disinfecting light. Being able to trigger the blink reflex helps protect the eyes of the human or animal in the event that the eyes are about to be inadvertently exposed to the disinfecting light. Because the beam of targeting light irradiates a larger cross-sectional area, eyelids have the opportunity to close before the beam of disinfecting light has a chance to impinge on the eyes. This embodiment might be further calibrated to provide a beam of purely visible light as a warning or to initiate blink reflex prior to adding UV light to the beam.

In another embodiment, the beam of targeting light can be used to assist with accurately targeting and/or identifying an object to be disinfected by the disinfecting light. In such a targeting/identifying operation, the beam of targeting light may be first used alone to target/identify the object and then the object may be irradiated by the mixed beam of targeting light and disinfecting light. Alternatively, once the targeting light beam has targeted/identified the object, a single short pulse of disinfecting light may be emitted to disinfect the object. Short pulse emission is advantageous when the beam of disinfecting light is smaller than the area of the surface to be disinfected such that more than one position of the beam or more than one beam is required to disinfect the entire area by cycling through the area in a repetitive fashion. In such a situation, the disinfection process may be discretized and retargeting/reidentifying performed with the targeting light beam at individual positions within the larger area before disinfection at each position with the disinfecting light. To an observer, alternating pulses of targeting light and disinfecting light would look like a blinking point when the disinfecting light is UV light.

In another embodiment, when an object in need of disinfection cannot be safely disinfected at the time when the need is determined, a beam of infrared targeting light may be utilized to heat the object to be disinfected in order to be able to track the object with thermal imaging devices for disinfection at a later time when it is safe to perform the disinfection operation.

In yet another embodiment, the targeting light may be utilized to project a message or image on the surface before, during or after disinfection. The message or image could entail a warning that disinfection will be or is being done, information that disinfection has been done, an advertisement, a symbol, a logo, a public service announcement, a color change of the light, or any other message or image. The message or image may be configured in any shape and/or color and/or may be made to blink to attract attention to the message or image. The message or image may be sized to cover an entire object, the portion of the object that was disinfected or any other desired size. Alternatively, or additionally, a projection system separate from the beam of targeting light may be utilized to project the message or image. The separate projection system has the advantages of being able to project the message or image in a different area from the beam of targeting light, such as an area where humans are directing their gaze, and being able to continue to project the message or image after the beams of light are moved to disinfect another object. The separate projection system may be controlled by the disinfection system's programmed controller, or by a separate controller in electronic communication with the disinfection system's programmed controller. Alternatively, or additionally, the separate projection system may be controlled by a human operator.

The collected data from the one or plurality of imaging devices may further include time series dynamic data recording motions of the objects, especially the potential sources of infection, in the environment to be protected. The controller may be trained to use the dynamic data to track the potential sources of infection and predict transmission sites between the potential sources of infection and surfaces of other objects. The characterizing potential transmission sites may therefore comprise analyzing movements of the potential sources of the infection in the field of view to determine where the potential sources of the infection could or did contact the other objects. In particular, the transmission sites may be contact sites between the potential sources of infection and the surfaces of the other objects. The contact sites are locations on the potential sources of infection and/or the other objects where the sources of infection are most likely to touch the other objects. The contact sites are on the other objects, on the potential sources of the infection or on both the other objects and on the potential sources of the infection. Some common contact sites comprise, for example, door handles, faucet handles, appliance handles, buttons on machines, buttons on keypads, buttons or handles in elevators, light switches, arms of chairs, gloves worn by a person, personal protective equipment, and the like. The system can disinfect the contact sites or other potential transmission sites before, after, or both before and after contact is made between the potential sources of infection and the other objects.

To track the risk of the potential sources of infection, the controller may be trained to create a map of the environment to be protected including locations of stationary and mobile objects, and to supplement the map in real time with movement of the potential sources of infection and other objects by dynamically collecting and analyzing image information collected by the imaging devices. The ranking of the potential sources of infection and other objects according to risk of harboring an infection provides an initial risk of transmission. From the dynamically collected data, the controller can calculate the probability of each potential source of infection contacting a surface of each of the other objects, and can characterize the potential transmission sites between the potential sources of infection and the surfaces of the other objects. In light of the calculated probabilities, the controller may be programmed to compare the ranked and classified potential sources of infection and other objects with the characterized potential transmission sites to prioritize the transmission sites to be disinfected and control the light sources to disinfect the transmission sites in order of priority. Thus, the map created by the controller assigns risk of infection transmission to characterized surfaces in a spatially discretized fashion based on analysis of the dynamic data collected from the imaging devices, and the map is utilized to calibrate the light sources to disinfect surfaces prioritizing higher risk surfaces over lower risk surfaces. Including data in the map about the high-risk features of objects in the set of defined objects, the map can be utilized to avoid harmfully irradiating objects according to a hierarchy of potential harm by either incident or reflected light.

The time series dynamic data from the image devices can be used to assess movement events including, for example, contact between objects, movement of the objects through space and motions of parts of the objects. Certain motions, such as coughing, spitting and sneezing, which may increase risk of infection transmission can be tracked, and the data used to refine the map by updating infection risk to characterized surfaces that may be affected. In addition, an object in motion may be characterized with a higher risk of harboring an infection than the vicinity around the object, which is assigned a lower risk. Additionally, the controller may be programmed to recognize that certain pre-determined changes in the configuration of an object may signify that the object has a higher risk of harboring an infection. For example, when the controller recognizes from the collected data that a person has raised gloved hands above the head, the gloves are to be re-characterized as having a higher risk of harboring an infection so that the controller controls the light sources to disinfect the gloves at an earlier time. In other examples, raising an object (e.g. an instrument or a cell phone) or leaving an object (e.g. an instrument or a cell phone) on a table would trigger the system to re-assign priority to disinfecting the object.

For surfaces deemed at risk for infection transmission, a disinfection protocol is optimized as a function of available light sources which can access the at-risk surfaces, in combination with all surfaces which must be disinfected by the entire system of light sources, so as to minimize overall disinfection time while ensuring adequate energy deposition to achieve disinfection, with specific light sources targeting appropriate transmission sites only during times when the relevant light transmission vector or reflection is deemed safe to objects of the set of defined objects in the field of view of the plurality of imaging devices, or in such a way as to minimize exposure of objects of the set of defined objects to below a defined energy threshold, while disinfecting energy deposited to appropriate surfaces is summed. The light used for disinfection may include wavelengths that are detectable by the imaging devices in order to model energy deposition on the surfaces. Modeling energy deposition on a surface requiring disinfection to reach a disinfection threshold, which is in some cases defined by a human operator, may include combination of available weighting factors and wavelengths. In situations where an object is accessible by more than one of the light sources, for example a 266 nm laser, a 25-260 nm beam-producing LED and a 405 nm laser, all of the wavelengths having different disinfection effectiveness. In such a situation, the system can multiply energy per area by weighting factors for each of the light sources to reach the appropriate aggregate energy threshold for disinfection.

Other constraints when modelling energy deposition on the surfaces include warm-up time and over-heating of the light sources. Further, regulatory requirements constraining maximum power from a single light source can be factored into the optimization of the disinfection protocol. Such modelling can be used to inform the duration of time needed to ensure that enough energy is deposited to complete the disinfection task, even if the light source or sources had to be transiently directed away from the surface for a period of time.

When installing the disinfection system in an environment to be protected, the number and distribution of light sources and imaging devices to provide sufficient disinfection and monitoring of objects may be modeled a priori via computer simulation to maximize disinfection of high-risk surfaces while minimizing risk to objects in the defined set of objects. In this regard, the system may be calibrated spatially and in terms of possible reflections. When the imaging devices are installed in the environment to be protected, a beam of visible laser may be propagated from each of the imaging devices and the locations of the beams noted by all of the imaging devices. Thus, every spatial point in the environment to be protected is registered between the different imaging devices. This includes distances between each spatial point and each of the imaging devices, which can be determined by range-finding lasers, by the parallax effect, by 3D plane techniques if relevant for reflection, or by direct assessment of reflection. All of the data at every point is saved in the calibration data of the system. The system may re-calibrate at specific locations if an object moves, for example a computer mouse moving on a mouse pad. Thus, when a potential transmission site is identified, the extent of the potential transmission site can be determined from all available data from every available field of view of the imaging devices, and the system can irradiate the entire extent of the potential transmission site including a built-in error margin to ensure complete disinfection of the potential transmission site.

In some embodiments, calibration of the disinfection system may be accomplished by equipping the disinfection with at least one laser range finder to correspond to each disinfecting light source. Each range finder cycles through all potential transmission sites in the environment that are accessible to the disinfecting light source to which the range finder corresponds, and records distance between the disinfecting light source and corresponding surfaces at each of the potential transmission sites. For example, if a gantry supporting a disinfecting light source has two degrees of freedom (e.g. axis and azimuth), a distance measurement between the disinfecting light source and corresponding surface is made at every available combination of both the axis and the azimuth positions. As each disinfecting light source cycles through all available positions, a detectable wavelength of light (e.g. heat, reflective signature, or spectroscopic signature) is detected in available imaging devices for each disinfecting light source position, and, for each disinfecting light source, a set of gear positions of rotary motors on which the disinfecting light source is mounted is recorded. Thus, all potential transmission site coordinates on surfaces in the environment may be accessed for disinfection by all available disinfecting light source via the known gear positions for each disinfecting light source. The calibration includes any detected reflected light beams. Where each disinfecting light source has the same wavelength available for the calibration, the disinfecting light sources can be calibrated one at a time in series. Where each disinfecting light source has a unique wavelength, all disinfecting light sources may be calibrated simultaneously. A local change in the environment, for example when a normally stationary object (e.g. furniture) moves in the environment, can trigger recalibration during the cycling.

The result is a map of distance associated with each disinfecting light source between the disinfecting light source and all accessible surfaces in the environment. This distance map may be combined with relative positions of the disinfecting light source to provide a model of the environment. Initially, the distance maps for all disinfecting light sources are created for all potential transmission site coordinates for all possible disinfecting light sources and links to image data from the imaging devices. After initial calibration, it is possible to recalibrate subsets of coordinates if, for example, a local change in the environment is detected requiring such recalibration.

During cycling of each disinfecting light source through all available positions, when the light from an individual disinfecting light source is detected on a surface by more than one imaging device, a parallax calculation may be made to confirm distances between the disinfecting light source and the surface. The parallax calculation may be used to replace or further refine the model of the environment. Such parallax calculations may be made by assessing location of both primary and, where available, reflected beams of light. The distances derived from parallax effects may modify or replace distances obtained by range finding. Also, if a local change in the environment is detected, recalculation of the parallax effects may be done and the recalculated distances used to modify the model in the affected locale.

Using the distance maps for each disinfecting light source, or the associated model of the environment, principle components may be calculated for clusters of data points at each coordinate in the environment, and used to define a plane from which reflection calculations may be predicted. Vectors of reflected light may then be predicted in three dimensions in the model, up to an arbitrary number of reflections. The reflection calculations may be validated by any direct detection of reflections at calibration or during operation of the system. As above, calculations for reflections at specific locales may be retaken if a local change is detected in the environment.

Also, the imaging devices may record a running average intensity projection (or other reasonable measure of central tendency), whereby an operator sets a time window (e.g. about 5 minutes) over which the average is determined. The intensity projections may be performed under various lighting conditions or at various times of day to create a set of intensity templates in the calibration data. During normal operation of the system, real time intensity projection data is then compared to the average intensity projection in the templates to detect objects in motion, and to distinguish native objects from transient objects, where native objects are objects that are usually in the environment and transient objects are objects that are not usually in the environment or are passing through the environment.

With reference to FIG. 1 , one embodiment of a laser-based disinfection system 1 comprises a plurality of ultraviolet (UV) lasers 3 mounted on first rotary motors 4, a plurality of wide field of view multispectral cameras 5 having infrared (IR), visible, UV spectrum sensitivity mounted on second rotary motors 6, and a range finding subsystem 8. The lasers 3 are capable of emitting coherent ultraviolet light, and can also emit coherent light in the visible spectrum, or in some set of specific wavelengths. The range finding subsystem 8 involves the cameras 5 as well as laser proximity sensors. The lasers 3 are placed between the cameras 5, and the lasers 3 and the cameras 5 are mounted at known distances between each other to enable analysis of parallax effects and to optimize laser light proximity analysis to calculate distances.

The lasers 3, first rotary motors 4, cameras 5, second rotary motors 6 and range finding subsystem 8 are in electronic communication with a controller comprised in a computer system 10. The computer system 10 comprises a central processing unit (CPU) 12, an input/output (I/O) component 14 and a non-transient computer memory 16. The computer memory 16 contains a computer program 18, calibration data 20 and collected data 22. The computer program 18 comprises a deep neural network 19 based on a mathematical optimization model developed to make decisions based on a synthesis of the collected data 22 and the calibration data 20 in order to properly operate the disinfection system 1. The calibration data 20 comprises pre-loaded common information about the system 1 and pre-acquired information about the characteristics of objects likely to be encountered in the environment to be protected by the disinfection system 1. The collected data 22 comprises image data collected by the cameras 4 and range data collected by the range finding subsystem 8, which are collected during real-time operation of the system 1, and which are stored in the computer memory 16. The deep neural network is pre-trained so that the calibration data 20 contains information about the potential sources of infection and other objects that will likely be encountered, and is capable of learning from the collected data 22 to be able to revise the calibration data 20 during system operation.

The central processing unit (CPU) 12 receives image data from the cameras 5 and range data collected by the range finding subsystem 8, as well as positional data from rotary encoders on the rotary motors 4, 6, and executes decisions made by the computer program 18 by transmitting data to independently control the rotary motors 4, 6 independently change the orientation of the lasers 3 and cameras 5, respectively, and independently switch the lasers 3 on/off, adjust the power output of the lasers 3 and/or adjust the frequency of the lasers 3. Data is received by and transmitted from the computer system 10 wirelessly, although a hard-wired system could be employed of the computer system 10 is sufficiently close to the lasers 3 and cameras 5. The computer program 18 programmed into the computer system 10 synthesizes the image data collected from the cameras 5 to classify the objects in the field of view of the cameras 5 according to risk of harboring an infection on the basis of the calibration data 20 about the objects likely to be encountered in the environment. The computer program 18 further characterizes potential transmission sites between the objects classified as potential sources of the infection and the other objects, and localizes the potential transmission sites in the field of view of the imaging devices, by analyzing time sequence images collected by the cameras 5 and the range data collected by the range finding subsystem 8 to recognize the direction in which the objects are moving. Based on the classification of the objects, the characterization of the potential transmission sites and the localization of the potential transmission sites, the lasers 3 are independently controlled to disinfect the potential transmission sites. The computer program 18 further corrects for spatial distortion caused by slight distance between the lasers 3, where such distortions are significantly minimized by increasing distance to the targets.

With reference to FIG. 2 , the laser-based disinfection system 1 of FIG. 1 is shown deployed in a hospital waiting room 100. Four of the lasers 3, individually labeled as 3 a, 3 c, 3 d, 3 e, are mounted in the four corners of the waiting room 100 close to the ceiling, and a fifth of the lasers 3, individually labeled as 3 b, is mounted in a corner of a registration room 110 across from the laser 3 a. The lasers 3 are mounted on corresponding rotary motors to permit aiming the lasers 3, the rotary motors capable of rotating the lasers 3 about at least a vertical axis of rotation and a horizontal axis of rotation so that the lasers 3 can be pointed up-and-down and side-to-side. Collectively, the lasers 3 are mounted such that every point in the waiting room 100 can be targeted by at least one of the lasers 3. Eight of the cameras 5, individually labeled as 5 a, 5 b, 5 c, 5 d, 5 e, 5 f, 5 g, 5 h, are mounted along walls of the waiting room 100 close to the ceiling. The cameras 5 are mounted on corresponding rotary motors to permit aiming the cameras 5, the rotary motors capable of rotating the cameras 5 about at least a vertical axis of rotation and a horizontal axis of rotation so that the cameras 5 can be pointed up-and-down and side-to-side, if desired, although the wide fields of view of the cameras 5 may obviate the necessity to move the cameras 5. Collectively, the cameras 5 are mounted such that substantially every point in the waiting room 100 can be imaged by at least two of the cameras 5 so that distance information to every point can be calculated based on parallax. The computer system 10 is installed in the registration room 110 with the lasers 3 and cameras 5 hardwired to the computer system 10.

The waiting room 100 comprises various stationary objects and mobile objects. The stationary objects include, for example, walls 111 and 112, light switches 103, a desk top 104, the computer system 10 and stationary banks of chairs 105 (only one labeled). Mobile objects include, for example, a wheel chair 113, doors 101 a, 101 b, 101 c, 101 d, 101 e, 101 f, and door handles 102 a, 102 b, 102 c, 102 d, 102 e, 102 f on the doors 101 a, 101 b, 101 c, 101 d, 101 e, 101 f. The waiting room 100 also comprises various objects classified as potential sources of infection including, for example, a person 106, a hand 107 of the person 106, a face 109 of the person 106, and water droplets 108 emitted by the person 106 in the vicinity of the person 106 due to breathing, coughing, sneezing or the like.

In operation, based on the calibration data and the collected data, the computer system 10 classifies the objects in the field of view according to the object type and risk of harboring an infection. In this case, the person 106, the hand 107 of the person 106, and the water droplets 108 would be classified as having a high risk of harboring an infection, along with the door handles 102 a, 102 b, 102 c, 102 d, 102 e, 102 f, the desk top 104 and arms of the chairs 105 and wheel chair 113, with the other objects not being classified as having as high a risk. The computer system 10 characterizes potential transmission sites between the potential sources of the infection and the other objects. In this case, the person 106 with the hand 107 is moving towards the door 101 f with the door handle 102 f, with the water droplets 108 emanating from the person 106 toward the hand 107 and the door 101f. Based on data collected as a time series of images from the cameras 5 e, 5g, 5h and data collected from the range finding subsystem, the computer system 10 calculates that the water droplets 108, the hand 107, the face 109 of the person 106 and the door 101f, especially the door handle 102 f, are potential transmission sites. Since the person 106, including the face 109 and the hand 107, are also classified in a set of defined objects to avoid harmfully irradiating, the computer system 10 calculates that priority should be given to disinfecting the water droplets 108, the door handle 102 f and the door 101 f, in that order. The computer system 10 then operates the lasers 3 c, 3 d and/or 3 e to irradiate the water droplets 108, the door handle 102 f and the door 101 f in the most efficient manner possible based on the calibration data, including reflectivity properties to ensure that no stray reflections of laser beams impinge on the person 106. As the person 106 and the person's face 109 and hands 107 move, the time series image data from the cameras 5 e, 5 g, 5 h and the distance data from the range finding subsystem can be utilized to control the lasers 3 c, 3 d and/or 3 e to ensure that incident and reflected laser beams do not impinge on the person 106 by switching off or moving the lasers 3 c, 3 d and/or 3 e. If the disinfection system 1 detects that the person 106 or person's hand 107 actually touches an object at a certain site, the disinfection system 1 immediately prioritizes the certain site for disinfection and operates the lasers 3 c, 3 d and/or 3 e to disinfect the certain site.

With reference to FIG. 3 , a method 200 of disinfecting using the laser-based disinfection system 1 is depicted. The method comprises:

Training 210. Calibration data related to components of the disinfection system are stored in the computer memory, including data about the rotary motors, lasers, cameras and other range finding subsystem components (e.g. laser proximity sensors). The data related to the components of the disinfection subsystem include, for example, the absolute and relative positions and orientations of the components in the environment to be protected. The deep neural network of the computer program is further trained: to recognize object types (i.e. sources of infection, objects that are not sources of infection and parts of the sources of infection and the objects that are not sources of infection) in the environment to be protected; to recognize movement of objects and parts of the objects, (i.e. whether the object or parts of the object are moving or not moving); and, to calculate trajectories of moving objects and object parts within the environment to be protected. The object types are stored in the computer memory as part of the calibration data. Object properties are stored in the computer memory and assigned to each object type, the object properties including, for example, whether the object is in a set of defined objects not to be harmfully irradiated, whether the object is or is not a potential source of infection, whether the object commonly interacts with a potential source of infection, whether the object is a stationary or mobile object, likely surface material of the object, UV reflectivity of the surface material, transparency of the material, angles and paths of laser beam reflection from the object relative to the possible orientations of the lasers, and the like. In some instances, the object properties assigned to the object types may adjusted based on the particularities of the environment to be protected when the disinfection system is being installed in the environment to be protected. Each object property is assigned a weighting factor indicating the extent to which the object property contributes to a risk that the object type harbors an infection. The sum of the weighting factors provides a measure of the risk that the object type harbors an infection.

Collecting data 220. Data about the environment to be protected is collected in real time and stored in the computer memory as collected data. The cameras collect image data within their respective fields of view, and the range finding subsystem, which may include the cameras, collects distance data of objects within the fields of view of the cameras relative to the lasers. The collected image data are assigned a collection time so that the image data and distance data are time sequenced to permit the deep neural network to recognize movement of objects and calculate trajectories of moving objects.

Classifying objects 230. The neural network compares the collected image data to the stored calibration data to classify the objects in the fields of view of the cameras into object types with corresponding object properties for the object types. The neural network calculates and assigns a risk of harboring an infection to each object in the fields of view of the cameras based on the measure of risk in the calibration data for the corresponding object type. The neural network also uses the time sequenced data to classify each object as moving or not moving.

Characterizing transmission sites 240. Based on the classification of the objects, the neural network generates a map of transmission risk, which is a discretized representation of the environment showing potential transmission sites, including potential sites of physical contact, between the objects classified as potential sources of the infection and the objects not classified as potential sources of infection. In some examples each camera will have its own map where individual pixels are registered to those of all other maps at calibration. In some examples a common model will be created by data derived from the plurality of cameras. The characterization of potential transmission sites is based on identifying the objects that are classified as potential sources of infection, objects that are not classified as potential sources of infection that commonly interact with the potential sources of infection, the positions of the potential sources of infection in the environment and the movement of the potential sources of infection and other objects in the environment. The potential sources of infection themselves are potential transmission sites, and surfaces of any objects toward which the potential sources of infection are moving would be characterized as potential transmission sites. Movement of the potential sources of infection and the mobile objects is analyzed by the neural network form the time sequenced image data and distance data collected by the cameras and the range finding subsystem.

Prioritizing potential transmission sites 250. Once the potential transmission sites have been characterized, the potential transmission sites are prioritized as to which ones should be disinfected first. The neural network prioritizes potential transmission sites at least partially based on movement events, that is relative movements between the potential sources of infection and the other objects, and on assigned risk of harboring an infection. For example, a ranking of disinfection priority is assigned to a potential transmission site based on the sum of a weighting of: the number of moving objects around the potential transmission point; the proximity of potential sources of infection to another object; directions in which the potential sources of infection are moving relative to the other objects; and, the risks of harboring an infection assigned to the other objects. Higher traffic locations in the environment are given higher priority, i.e. if the number of moving objects around the potential transmission site is higher, the priority ranking is raised for the potential transmission site. When the potential sources of infection are closer to another object, the priority ranking for the other object is raised. When a potential source of infection is moving toward another object, the priority ranking for the other object is raised. When the risk of harboring an infection assigned to the other object is higher, the priority ranking for the other object is raised. Further if the potential transmission site is on a potential source of infection, the priority ranking for the potential transmission site is raised. However, if the potential transmission site is at a location on the potential source of infection where irradiation with a laser would result in harmfully irradiating an object of the set of defined objects, the priority ranking of the potential transmission site is lowered or dropped to zero.

Disinfecting potential transmission sites 260. Once the priority ranking of the potential transmission sites has been established, the computer system controls the lasers to disinfect the potential transmission sites in order from highest to lower priority. Because the system is working in real time, the priority rankings may change dynamically, however, the neural network may be trained to complete an existing disinfection task before handling a new higher priority task, unless the assigned priority ranking of the new task exceeds an emergency threshold. The neural network calculates appropriate laser beam parameters (e.g. beam energy, beam frequency, beam orientation) required for a disinfection task based on the size and location of the potential transmission site to be disinfected. The laser beam is appropriately collimated or expanded, to deposit a sufficient quantity of energy over a sufficient period of time to a discrete area on a surface of the object where the potential transmission site is located. In assigning a laser or lasers for a disinfection task, the computer system calculates incident and reflected beam vectors in order to determine which laser or lasers are best suited for the task. Lasers whose beam vectors would could result in harmfully irradiating an object of the set of defined objects (e.g. humans and pet animals) would not be used or would be intermittently switched on and off. In the event that a laser beam needs to be switched off during a disinfection task because an object of the set of defined objects crosses the beam vector, the laser would be turned off for a sufficient time and the disinfection task recalculated or a different laser reassigned to complete the task.

With reference to FIG. 4 , another embodiment of a laser-based disinfection system 300 comprises a plurality of aimable ultraviolet (UV) lasers 303 for disinfection, a plurality of imaging devices comprising a plurality of infrared (IR) cameras 305 and a plurality of visible cameras 306, and a programmed controller 312 for controlling the system 300 in electronic communication with the UV lasers 303, the cameras 305, 306 and other components of the system 300. In addition to the UV lasers 303 that are used for disinfecting a potential transmission site 308 on an object, the system 300 comprises at least one infrared (IR) laser 307 that can be used to mark with a heat tag, for future disinfection, another potential transmission site 309 on the same or different object. The system 300 further comprises redundant data filters 310, 311 for the plurality of infrared (IR) cameras 305 and a plurality of visible cameras 306, respectively, which removes redundant image data from the image data collected by the cameras 305, 306 before the image data is transmitted to the controller 312 for processing into a set of maps of potential transmission sites to be disinfected. Further, a projection system 319 is also provided to project visible indicia such as warnings, advertisements and region indicators, on to surfaces. Furthermore, an output device 315 (e.g. a computer monitor) is also provided to permit a human operator to read the image data, for example see the images, collected by the cameras 305, 306, and at least one input device 316 (e.g. a keyboard, a computer mouse, a microphone or any combination thereof) is provided to permit the human operator to manipulate the image data and/or to intervene in the control methods being operated by the programmed controller 312. The system 300 also comprises computer readable non-transient memory 318 for storing data collected from the cameras 305, 306 and data collected from the ultraviolet (UV) lasers 303 in connection with the time and locations of disinfection events.

In operation, image data of the environment to be protected by the system 100 is collected by the cameras 305, 306 situated in the environment. The collected image data is transmitted: to the output device 315 for the display to the human operator; to the computer readable non-transient memory 318 to be stored long-term for future reference; to a pre-processing module 321 of the controller 312; and, to a constraint detecting module 320 of the controller 312.

The pre-processing module 321 of the controller 312 includes, for example, instructions to integrate stereoscopic data, range finding data and other data about the objects in the field of view of the cameras 305, 306 to provide a dynamic real-time model of the environment. The model of the environment is then analyzed by a transmission detection module 323 to determine whether any of the objects in the model represent a potential transmission event, for example breathing, sneezing, coughing, touching of objects and the like. The transmission detection module 323 also classifies the objects in the field of view according to whether each of the objects is a potential source of infection 324, as well as into native objects 325 and special transient objects 326. Native objects 325 are objects that are usually in the environment (e.g. furniture, walls, light switches and the like). Transient objects are objects that are not usually in the environment or are passing through the environment, and special transient objects 326 are transient objects identified in the calibration data as particularly high risk for harboring an infection (e.g. cell phones, clip boards, and the like). The data about the potential transmission events and the classification of the objects is then analyzed in scoring module 328, which ranks the source objects 324 and the native objects 325 with a score that assigns disinfection priority to the objects 324, 325. The priority data along with the data about the special transient objects 326 are synthesized and analyzed in a scheduler 330, which schedules disinfection operations of the potential transmission sites 308 on the objects 324, 325, 326 in a priority order. The schedule developed by the scheduler 330 is then compiled into a set of heat maps 331 in priority order on which the UV lasers 303 are instructed to act by the controller 312. The heat maps comprise at least one region of 1's, identifying the potential transmission sites 308, on a background of 0's, the region or regions containing 1's being disinfected by the UV lasers 303 before the UV lasers 303 move on to the next heat map. The system 303 can produce and utilize an arbitrary number of heat maps 331, and the order of heat maps can be changed in real-time as new data is acquired from the cameras 305, 306.

Before acting on the heat maps 331, the constraint detecting module 320 processes image data directly from the cameras 305, 306 to determine, by comparison to calibration data when necessary, whether any of the UV lasers 303 need to remain inoperative at any given time in view of the maximum energy threshold of any one or more of the potential transmission sites, the time required to disinfect any one or more of the potential transmission sites, over-heating any one or more of the UV lasers 303, the presence of an object of the set of defined objects (e.g. humans and pet animals) in the path of an incident or reflected beam from the UV lasers 303, or any other constraint. Based on the data analyzed by the constraint detecting module 320, the priority order of the heat maps 331 may need to be altered. When the system 300 is unable to disinfect a high priority potential transmission site due to analysis by the constraint detecting module 320, the scheduler 330 can instruct the at least one IR laser 307 to heat tag the transmission site as another potential transmission site 309 to be disinfected at the first opportunity. The heat tag can be imaged by the one or more of the IR cameras 305, thereby permitting the human operator or the controller 312 to track the other potential transmission site 309 until the other potential transmission site 309 can be disinfected.

Based on the heat maps 331 the controller 312 also instructs the projection system 319 to project visible indicia such as warnings, advertisements and region indicators, on to the surfaces that were or are potential transmission sites 308, or on to any other surface in accordance with the purpose of the visible indicia.

The novel features will become apparent to those of skill in the art upon examination of the description. It should be understood, however, that the scope of the claims should not be limited by the embodiments, but should be given the broadest interpretation consistent with the wording of the claims and the specification as a whole 

1. A disinfection system comprising: (a) at least one beam-producing light source for disinfection; (b) at least one imaging device for collecting data about objects in a field of view of the at least one imaging device; and, (c) a programmed controller for controlling the at least one beam-producing light source based on the data collected from the at least one imaging device, wherein the controller is programmed to utilize the data collected to: (i) classify the objects in the field of view according to whether each of the objects is or is not a potential source of infection; (ii) characterize at least one potential transmission site between at least one of the objects that is classified as a potential source of infection and at least one other of the objects in the field of view; (iii) localize the at least one potential transmission site in the field of view of the at least one imaging device; and, (iv) based on the classification of the objects, the characterization of the at least one potential transmission site and the localization of the at least one potential transmission site in the field of view, control the at least one beam-producing light source to disinfect the at least one potential transmission site.
 2. The system of claim 1, wherein the at least one beam-producing light source comprises a laser or a directed incoherent light source.
 3. The system of claim 1, wherein the controller is further programmed to rank the classified objects according to risk of harboring an infection, and to compare the ranked and classified objects with the characterized potential transmission sites to prioritize the transmission sites to be disinfected and control the at least one beam-producing light source to disinfect the potential transmission sites in order of priority.
 4. The system of claim 1, wherein the at least one potential transmission site comprises at least one potential contact site on a surface between the at least one potential source of infection and the at least one other of the objects in the field of view.
 5. The system of claim 1, wherein characterizing the at least one potential transmission site comprises analyzing movements of the at least one potential source of infection in the field of view to determine where the at least one potential source of infection could or did contact the at least one other of the objects.
 6. The system of claim 5, wherein the at least one potential source of infection comprises organisms and/or water droplets in air.
 7. The system of claim 6, wherein the organisms comprise a set of defined objects to avoid harmfully irradiating with the at least one beam-producing light source, and wherein the controller is further programmed to control the at least one beam-producing light source to avoid harmfully irradiating the objects of the set of defined objects.
 8. The system of claim 7, wherein the controller switches off at least one of the at least one beam-producing light source or redirects at least one of the at least one beam-producing light source to avoid harmfully irradiating the objects of the set of defined objects.
 9. The system of claim 8, wherein the controller is further programmed to predict reflection angles of a beam from the at least one beam-producing light source based on the data collected about the objects in the field of view, and the predicted reflection angles are used to redirect the beam.
 10. The system of claim 7, wherein the controller is further programmed to classify the potential sources of infection and the at least one other of the objects in the field of view by risk of light reflectivity, and to utilize the risk of reflectivity to control the at least one beam-producing source of light to avoid harmfully irradiating the objects of the set of defined objects.
 11. The system of claim 7, wherein the set of defined objects comprises humans, pet animals and portions thereof.
 12. The system of claim 7, wherein: targeting light is mixed with light of the at least one beam-producing light source so that the targeting light and the light of the at least one beam-producing light source are reflected together from the objects; the data collected by the at least one imaging device includes primary and reflected locations of the targeting light and the light of the at least one beam-producing light source; and, the controller creates a map of possible reflections of the light of at least one beam-producing light source from the primary and reflected locations in order to calibrate the disinfection system to maximize irradiation of the at least one potential transmission site and avoid harmfully irradiating the organisms of the set of defined organisms.
 13. The system of claim 12, wherein the reflected light is used to register locations between two or more of the at least one imaging devices and/or to confirm targeting of the at least one transmission site.
 14. The system of claim 12, wherein the targeting light is utilized to project a message or image on the surface before, during or after disinfection.
 15. The system of claim 1, wherein: the at least one beam-producing light source comprises a plurality of beam-producing light sources; and, the controller is programmed to model energy deposition at the at least one potential transmission site so that energy provided be each of the plurality of beam-producing light sources is aggregated to reach a pre-determined energy threshold for disinfection at the at least one potential transmission site.
 16. The system of claim 1, wherein the controller is programmed with a neural network for synthesizing the collected data.
 17. The system of claim 1, wherein the at least one beam-producing light source comprises a plurality of ultraviolet lasers and the at least one imaging device comprises a plurality of cameras.
 18. The system of claim 1, further comprising at least one non-coherent ultraviolet light source for disinfection.
 19. A method of disinfecting comprising: collecting data, with at least one imaging device, about objects in a field of view of the at least one imaging device; classifying the objects in the field of view according to whether each of the objects is or is not a potential source of infection; characterizing at least one potential transmission site between at least one of the objects that is classified as a potential source of infection and at least one other of the objects in the field of view; localizing the at least one potential transmission site in the field of view of the at least one imaging device; and, based on the classification of the objects, the characterization of the at least one potential transmission site and the localization of the at least one potential transmission site, controlling at least one light source for disinfection to disinfect the at least one transmission site.
 20. The method of claim 19, wherein the at least one light source comprises at least one beam-producing light source.
 21. The method of claim 19, wherein the at least one light source comprises at least one laser.
 22. The method of claim 19, further comprising: ranking the classified objects according to risk of harboring an infection; comparing the classified objects and the at least one potential source of infection with the characterized at least one potential transmission site to prioritize the transmission sites to be disinfected; and, controlling the light source to disinfect the at least one potential transmission site in order of priority.
 23. The method of claim 19, wherein the at least one potential transmission site comprises at least one contact site between the potential sources of the infection and the at least one other of the objects.
 24. The method of claim 23, wherein the at least one contact point is on a surface of the at least one other of the objects.
 25. The method of claim 19, wherein characterizing the at least one potential transmission site comprises analyzing movements of the potential sources of infection in the field of view to determine where the potential source of infection could or did contact the at least one other of the objects.
 26. The method of claim 25, wherein the at least one potential source of infection comprises organisms and/or water droplets in air.
 27. The method of claim 26, wherein the organisms comprise a set of defined objects to avoid harmfully irradiating with the at least one light source, and wherein the method further comprises controlling the at least one light source to avoid harmfully irradiating the objects of the set of defined objects.
 28. The method of claim 27, further comprising switching off at least one of the at least one light source or redirecting at least one of the at least one light source to avoid harmfully irradiating the objects of the set of defined objects.
 29. The method of claim 28, further comprising predicting reflection angles of light from the at least one coherent light source based on the data collected about the objects in the field of view, and redirecting the at least one light source based on the predicted reflection angles.
 30. The method of claim 27, further comprising classifying the potential sources of infection and the at least one other of the objects in the field of view by risk of light reflectivity, and controlling the at least one light source based on the risk of reflectivity to avoid harmfully irradiating the objects of the set of defined objects which are located along a reflection vector.
 31. The method of claim 27, wherein the set of defined objects comprises humans, pet animals and portions thereof.
 32. The method of claim 27, further comprising: mixing visible light with light of the at least one light source so that the visible light and the light of the at least one light source are reflected together from the objects, wherein the data collected by the at least one imaging device includes primary and reflected locations of the visible light and the light of the at least one light source; and, creating a map of possible reflections of the at least one light source from the primary and reflected locations in order to maximize irradiation of the at least one potential transmission site and avoid harmfully irradiating the organisms of the set of defined organisms.
 33. The method of claim 32, further comprising registering locations between two or more of the at least one imaging devices based on the reflected light.
 34. The method of claim 19, wherein the at least one light source comprises a plurality of ultraviolet lasers and the at least one imaging device comprises a plurality of cameras.
 35. The method of claim 19, wherein the method is performed by a human user, by a programmed controller or by a combination of a human user and a programmed controller.
 36. The method of claim 35, wherein a human user classifies the objects in the field of view according to whether each of the objects is or is not a potential source of infection.
 37. A system for identifying a location in need of disinfection, the system comprising: at least one beam-producing light source; at least one imaging device for collecting data about objects in a field of view of the at least one imaging device; and, a programmed controller for controlling the at least one beam-producing light source based on the data collected from the at least one imaging device, wherein the controller is programmed to utilize the data collected to: classify the objects in the field of view according to whether each of the objects is or is not a potential source of infection; characterize at least one potential transmission site between at least one of the objects that is classified as a potential source of infection and at least one other of the objects in the field of view; localize the at least one potential transmission site in the field of view of the at least one imaging device; and, based on the classification of the objects, the characterization of the at least one potential transmission site and the localization of the at least one potential transmission site in the field of view, control the at least one beam-producing light source to mark the at least one potential transmission site. 